calcH_YAWGPS.c File Reference

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Variables
	t2 = sin(ant_yaw)
	t3 = cos(ant_yaw)
	t4 = q0*q3*2.0
	t5 = q0*q0
	t6 = q1*q1
	t7 = q2*q2
	t8 = q3*q3
	t9 = q1*q2*2.0
	t10 = t5+t6-t7-t8
	t11 = t3*t10
	t12 = t4+t9
	t13 = t3*t12
	t14 = t5-t6+t7-t8
	t15 = t2*t14
	t16 = t13+t15
	t17 = t4-t9
	t19 = t2*t17
	t20 = t11-t19
	t18 = 1.0/(t20*t20)
	t21 = t16*t16
	t22 = 1.0/pow(t11-t19][2.0)
	t23 = q1*t3*2.0
	t24 = q2*t2*2.0
	t25 = t23+t24
	t26 = 1.0/t20
	t27 = q1*t2*2.0
	t28 = t21*t22
	t29 = t28+1.0
	t30 = 1.0/t29
	t31 = q0*t3*2.0
	t32 = t31-q3*t2*2.0
	t33 = q3*t3*2.0
	t34 = q0*t2*2.0
	t35 = t33+t34
	A0 [0][0] = (t35/(t11-t2*(t4-q1*q2*2.0))-t16*t18*t32)/(t18*t21+1.0)

Variable Documentation

A0

A0[0][3] = (t35/(t11-t2*(t4-q1*q2*2.0))-t16*t18*t32)/(t18*t21+1.0)

Definition at line 35 of file calcH_YAWGPS.c.

t10

t10 = t5+t6-t7-t8

Definition at line 9 of file calcH_YAWGPS.c.

t11

t11 = t3*t10

Definition at line 10 of file calcH_YAWGPS.c.

t12

t12 = t4+t9

Definition at line 11 of file calcH_YAWGPS.c.

t13

t13 = t3*t12

Definition at line 12 of file calcH_YAWGPS.c.

t14

t14 = t5-t6+t7-t8

Definition at line 13 of file calcH_YAWGPS.c.

t15

t15 = t2*t14

Definition at line 14 of file calcH_YAWGPS.c.

Referenced by Ekf::calcRotVecVariances(), Ekf::fuseDeclination(), Ekf::fuseGpsAntYaw(), Ekf::fuseOptFlow(), and Ekf::initialiseQuatCovariances().

t16

t16 = t13+t15

Definition at line 15 of file calcH_YAWGPS.c.

Referenced by Ekf::calcRotVecVariances(), Ekf::fuseGpsAntYaw(), Ekf::fuseOptFlow(), and Ekf::initialiseQuatCovariances().

t17

t17 = t4-t9

Definition at line 16 of file calcH_YAWGPS.c.

Referenced by Ekf::calcRotVecVariances(), Ekf::fuseGpsAntYaw(), Ekf::fuseOptFlow(), and Ekf::initialiseQuatCovariances().

t18

t18 = 1.0/(t20*t20)

Definition at line 19 of file calcH_YAWGPS.c.

Referenced by Ekf::fuseDeclination(), Ekf::fuseGpsAntYaw(), Ekf::fuseOptFlow(), and Ekf::initialiseQuatCovariances().

t19

t19 = t2*t17

Definition at line 17 of file calcH_YAWGPS.c.

Referenced by Ekf::fuseDeclination(), Ekf::fuseGpsAntYaw(), Ekf::fuseOptFlow(), and Ekf::initialiseQuatCovariances().

t2

t2 = sin(ant_yaw)

Definition at line 1 of file calcH_YAWGPS.c.

t20

t20 = t11-t19

Definition at line 18 of file calcH_YAWGPS.c.

Referenced by Ekf::fuseDeclination(), Ekf::fuseGpsAntYaw(), Ekf::fuseOptFlow(), and Ekf::initialiseQuatCovariances().

t21

t21 = t16*t16

Definition at line 20 of file calcH_YAWGPS.c.

Referenced by Ekf::fuseDeclination(), Ekf::fuseGpsAntYaw(), Ekf::fuseOptFlow(), and Ekf::initialiseQuatCovariances().

t22

t22 = 1.0/pow(t11-t19][2.0)

Definition at line 21 of file calcH_YAWGPS.c.

Referenced by Ekf::fuseGpsAntYaw(), Ekf::fuseOptFlow(), and Ekf::initialiseQuatCovariances().

t23

t23 = q1*t3*2.0

Definition at line 22 of file calcH_YAWGPS.c.

Referenced by Ekf::fuseGpsAntYaw(), Ekf::fuseOptFlow(), and Ekf::initialiseQuatCovariances().

t24

t24 = q2*t2*2.0

Definition at line 23 of file calcH_YAWGPS.c.

Referenced by Ekf::fuseGpsAntYaw(), Ekf::fuseOptFlow(), and Ekf::initialiseQuatCovariances().

t25

t25 = t23+t24

Definition at line 24 of file calcH_YAWGPS.c.

Referenced by Ekf::fuseGpsAntYaw(), Ekf::fuseOptFlow(), and Ekf::initialiseQuatCovariances().

t26

t26 = 1.0/t20

Definition at line 25 of file calcH_YAWGPS.c.

Referenced by Ekf::fuseGpsAntYaw(), Ekf::fuseOptFlow(), and Ekf::initialiseQuatCovariances().

t27

t27 = q1*t2*2.0

Definition at line 26 of file calcH_YAWGPS.c.

Referenced by Ekf::fuseGpsAntYaw(), Ekf::fuseOptFlow(), and Ekf::initialiseQuatCovariances().

t28

t28 = t21*t22

Definition at line 27 of file calcH_YAWGPS.c.

Referenced by Ekf::fuseGpsAntYaw(), Ekf::fuseOptFlow(), and Ekf::initialiseQuatCovariances().

t29

t29 = t28+1.0

Definition at line 28 of file calcH_YAWGPS.c.

Referenced by Ekf::fuseGpsAntYaw(), Ekf::fuseOptFlow(), and Ekf::initialiseQuatCovariances().

t3

t3 = cos(ant_yaw)

Definition at line 2 of file calcH_YAWGPS.c.

t30

t30 = 1.0/t29

Definition at line 29 of file calcH_YAWGPS.c.

Referenced by Ekf::fuseGpsAntYaw(), Ekf::fuseOptFlow(), and Ekf::initialiseQuatCovariances().

t31

t31 = q0*t3*2.0

Definition at line 30 of file calcH_YAWGPS.c.

Referenced by Ekf::fuseGpsAntYaw(), Ekf::fuseOptFlow(), and Ekf::initialiseQuatCovariances().

t32

t32 = t31-q3*t2*2.0

Definition at line 31 of file calcH_YAWGPS.c.

Referenced by Ekf::fuseGpsAntYaw(), Ekf::fuseOptFlow(), and Ekf::initialiseQuatCovariances().

t33

t33 = q3*t3*2.0

Definition at line 32 of file calcH_YAWGPS.c.

Referenced by Ekf::fuseGpsAntYaw(), Ekf::fuseOptFlow(), and Ekf::initialiseQuatCovariances().

t34

t34 = q0*t2*2.0

Definition at line 33 of file calcH_YAWGPS.c.

Referenced by Ekf::fuseGpsAntYaw(), Ekf::fuseOptFlow(), and Ekf::initialiseQuatCovariances().

t35

t35 = t33+t34

Definition at line 34 of file calcH_YAWGPS.c.

Referenced by Ekf::fuseGpsAntYaw(), Ekf::fuseOptFlow(), and Ekf::initialiseQuatCovariances().

t4

t4 = q0*q3*2.0

Definition at line 3 of file calcH_YAWGPS.c.

t5

t5 = q0*q0

Definition at line 4 of file calcH_YAWGPS.c.

t6

t6 = q1*q1

Definition at line 5 of file calcH_YAWGPS.c.

t7

t7 = q2*q2

Definition at line 6 of file calcH_YAWGPS.c.

t8

t8 = q3*q3

Definition at line 7 of file calcH_YAWGPS.c.

t9

t9 = q1*q2*2.0

Definition at line 8 of file calcH_YAWGPS.c.